STM32f103 —— can通信

#include "stm32f10x_can.h"

CanRxMsg   CanPeliRxMsgStructure;
CanTxMsg   CanPeliTxMsgStructure;

static void can_nvic_config(void)
{
  NVIC_InitTypeDef NVIC_InitStructure;

  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);

  NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
}

static void can_gpio_config(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

  GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);

  GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_8;      //can rx  pb8
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOB, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_9;      //can tx  pb9
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
}

void CANConfig(void)
{
  CAN_InitTypeDef          CAN_InitStructure;
  CAN_FilterInitTypeDef    CAN_FilterInitStructure;

  can_nvic_config();
  can_gpio_config();

  CAN_DeInit(CAN1);
  CAN_StructInit(&CAN_InitStructure);

  // 波特率 = Fpclk1/((tbs1+1+tbs2+1+1)*brp);
  // 125K = 36000K / 16 * (8 + 9 + 1);
  CAN_InitStructure.CAN_TTCM = DISABLE; // 非时间触发
  CAN_InitStructure.CAN_ABOM = DISABLE; // 软件自动离线管理
  CAN_InitStructure.CAN_AWUM = DISABLE; // 睡眠模式通过软件唤醒(清楚CAN->MCR的sleep位)
  CAN_InitStructure.CAN_NART = DISABLE; // 禁止报文自动传送
  CAN_InitStructure.CAN_RFLM = DISABLE; // 报文不锁定，新的覆盖旧的
  CAN_InitStructure.CAN_TXFP = DISABLE; // 优先级由报文标识符决定
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; // 模式设置 0:普通模式, 1:换回模式
  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; // 重新同步跳跃宽度
  CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq; // 时间段1的时间单元
  CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq; // 时间段2的时间单元
  CAN_InitStructure.CAN_Prescaler = 16; // 分频系数
  CAN_Init(CAN1, &CAN_InitStructure);

  CAN_FilterInitStructure.CAN_FilterNumber = 0;
  CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
  CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);
  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

void CANRecvMsg(void)
{
  CAN_Receive(CAN1, CAN_FIFO0, &CanPeliRxMsgStructure);
}

void CANSendMsg(can_msg_t *buffer)
{
  CAN_Transmit(CAN1, &CanPeliTxMsgStructure);
  for (i = 0; i < 7000; i++);
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
// CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0); // 清除中断
  CANRecvMsg();
}